Qihao Sun

Qihao Sun, Jiarun Liu, Ziqian Ni et al.

Accurate metric depth is critical for autonomous driving perception and simulation, yet current approaches struggle to achieve high metric accuracy, multi-view and temporal consistency, and cross-domain generalization. To address these challenges, we present DriveMVS, a novel multi-view stereo framework that reconciles these competing objectives through two key insights: (1) Sparse but metrically accurate LiDAR observations can serve as geometric prompts to anchor depth estimation in absolute scale, and (2) deep fusion of diverse cues is essential for resolving ambiguities and enhancing robustness, while a spatio-temporal decoder ensures consistency across frames. Built upon these principles, DriveMVS embeds the LiDAR prompt in two ways: as a hard geometric prior that anchors the cost volume, and as soft feature-wise guidance fused by a triple-cue combiner. Regarding temporal consistency, DriveMVS employs a spatio-temporal decoder that jointly leverages geometric cues from the MVS cost volume and temporal context from neighboring frames. Experiments show that DriveMVS achieves state-of-the-art performance on multiple benchmarks, excelling in metric accuracy, temporal stability, and zero-shot cross-domain transfer, demonstrating its practical value for scalable, reliable autonomous driving systems.

Caixiong Li, Xiongwei Zhao, Jinhang Zhang et al.

Open-vocabulary detection (OVD) is a challenging task to detect and classify objects from an unrestricted set of categories, including those unseen during training. Existing open-vocabulary detectors are limited by complex visual-textual misalignment and long-tailed category imbalances, leading to suboptimal performance in challenging scenarios. To address these limitations, we introduce MQADet, a universal paradigm for enhancing existing open-vocabulary detectors by leveraging the cross-modal reasoning capabilities of multimodal large language models (MLLMs). MQADet functions as a plug-and-play solution that integrates seamlessly with pre-trained object detectors without substantial additional training costs. Specifically, we design a novel three-stage Multimodal Question Answering (MQA) pipeline to guide the MLLMs to precisely localize complex textual and visual targets while effectively enhancing the focus of existing object detectors on relevant objects. To validate our approach, we present a new benchmark for evaluating our paradigm on four challenging open-vocabulary datasets, employing three state-of-the-art object detectors as baselines. Experimental results demonstrate that our proposed paradigm significantly improves the performance of existing detectors, particularly in unseen complex categories, across diverse and challenging scenarios. To facilitate future research, we will publicly release our code.

Wenyan Cong, Xinhao Tao, Li Niu et al.

Given a composite image, image harmonization aims to adjust the foreground to make it compatible with the background. High-resolution image harmonization is in high demand, but still remains unexplored. Conventional image harmonization methods learn global RGB-to-RGB transformation which could effortlessly scale to high resolution, but ignore diverse local context. Recent deep learning methods learn the dense pixel-to-pixel transformation which could generate harmonious outputs, but are highly constrained in low resolution. In this work, we propose a high-resolution image harmonization network with Collaborative Dual Transformation (CDTNet) to combine pixel-to-pixel transformation and RGB-to-RGB transformation coherently in an end-to-end network. Our CDTNet consists of a low-resolution generator for pixel-to-pixel transformation, a color mapping module for RGB-to-RGB transformation, and a refinement module to take advantage of both. Extensive experiments on high-resolution benchmark dataset and our created high-resolution real composite images demonstrate that our CDTNet strikes a good balance between efficiency and effectiveness. Our used datasets can be found in https://github.com/bcmi/CDTNet-High-Resolution-Image-Harmonization.

Linqi Yang, Xiongwei Zhao, Qihao Sun et al.

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and susceptibility to rotational ambiguity, while approaches requiring depth sensors or multi-view setups incur significant deployment costs. To address these limitations, we introduce SplatPose, a novel framework that synergizes 3D Gaussian Splatting (3DGS) with a dual-branch neural architecture to achieve high-precision pose estimation using only a single RGB image. Central to our approach is the Dual-Attention Ray Scoring Network (DARS-Net), which innovatively decouples positional and angular alignment through geometry-domain attention mechanisms, explicitly modeling directional dependencies to mitigate rotational ambiguity. Additionally, a coarse-to-fine optimization pipeline progressively refines pose estimates by aligning dense 2D features between query images and 3DGS-synthesized views, effectively correcting feature misalignment and depth errors from sparse ray sampling. Experiments on three benchmark datasets demonstrate that SplatPose achieves state-of-the-art 6-DoF pose estimation accuracy in single RGB settings, rivaling approaches that depend on depth or multi-view images.